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RCopterX is an indoor testbed for miniature remote controlled helicopters build at the Automatic Control Laboratory at ETH Zurich. The experimental setup includes modular custom control software, a hardware interface between a PC and radio-control signal transmitter, off-the-shelf miniature helicopters and an infrared vision system for global positioning indoors. Its purpose is to experimentally validate...
We describe an approximate dynamic programming method for stochastic control problems on infinite state and input spaces. The optimal value function is approximated by a linear combination of basis functions with coefficients as decision variables. By relaxing the Bellman equation to an inequality, one obtains a linear program in the basis coefficients with an infinite set of constraints. We show...
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